An improved LuGre model for calculating static steering torque of rubber tracked chassis  

作　　者：Kang Liang Qun-zhang Tu Xin-min Shen Zhong-hang Fang Xuan Yang Yong Zhang Hui-yu Xiang 

机构地区：[1]College of Field Engineering,Army Engineering University of PLA,Nanjing,210007,China [2]State Key Laboratory of Intelligent Manufacturing of Advanced Construction Machinery,Xuzhou Construction Machinery Group,Xuzhou,221004,China

出　　处：《Defence Technology（防务技术）》2022年第5期797-810,共14页Defence Technology

基　　金：funded by the National Key Research and Development Program of China(Grant No.2016YFC0802900)。

摘　　要：Tire and rubber track interchangeable chassis combines the advantages of tire and rubber track,which can greatly improve the maneuverability of military construction machinery.However,there is almost no effective calculation model for the real-time static steering torque.When the relative sliding speed is greater than 0.01 m/s,the influence of friction heating can not be ignored.An improved LuGre model is established to calculate the static real-time steering torque of tire and rubber track interchangeable chassis.Firstly,the friction heating model between rubber and ground is established.Combined with the influence of temperature on the dynamic performance of rubber material,the influence of friction heating on the stiffness and friction coefficient of rubber track is analyzed,and the improved LuGre friction model is established.The steering torque of tire and rubber track interchangeable chassis is affected by rubber material properties,steering speed,pavement type,and ambient temperature.Compared with the original Lu Gre model,the improved LuGre model captures the change in friction torque during multiple in-situ turns due to frictional heating.The error with the experimental data is small,which verifies the effectiveness of the improved LuGre model.

关 键 词：Rubber track Static steering torque Friction model CHASSIS MANEUVERABILITY VEHICLE 

分 类 号：TJ81[兵器科学与技术—武器系统与运用工程]